Segmented link robot for waste removal
AssigneeFramatome ANP GmbH
InventorsSamuel W. Glass, Frank C. Klahn, Dennis W. Saville
Life of this patent
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Abstract
The present invention is drawn to an incremental link robot mast for vacuuming nuclear waste from a storage silo. The mast is made of incrementally linked segments that are clamshell in construction to enclose and shield the working cables of the vacuuming robot. Each segment is linked together as needed by a transverse hinge pin and two hydraulic connecting pins. The clamshell is hinged and latched together by an array of screws. The robot comprises a linked clamshell mast and a master-slave robot arm on the end of the mast which includes tools for viewing and breaking up the waste and vacuuming same to a removal area.
Claims9
An incremental link robot mast assembly adapted for removing waste material from a storage silo having a dome with a limited access top opening comprising:
- a mast assembly extending through the top opening made up of incrementally linked segments;
- a robot arm operatively connected to said mast assembly at one end of said mast assembly and adapted for holding various tools for actuating the removal of waste from the silo through said mast assembly;
- each of said segments of said mast assembly being selectively linked to each other by a transverse pin and hydraulic connections;
- and
- each of said segments being enclosed in a clamshell structure and having means therein to aid the removal of waste materials from the silo through said mast assembly.
Dependencies are inferred from the claim text.